You can follow blogs/step by step documents that deal with sender idoc and receiver SOAP. For configuration issues you can check how to do a sender idoc in one document, and later research how to do a receiver SOAP in other document.

ICO when browsing in Recever tab in ICO , Operation mapping is not reflecting.

You should check that you sender service interface and you receiver service interface set in your ICO are in your ESR operation mapping.

You can share your ICO's tabs and your OM in screenshoots and we can help you better.